Merge pull request #12248 from hrnr:video_remove_ransac

* video: remove duplicate RANSAC code

* remove RANSAC code video module. The module now uses RANSAC estimators from calib3d.
* deprecate estimateRigidTransform

* replace internal usage of deprecated estimateRigidTransform

* remove from wrappers
* replace usage in shape module. shape module now links to calib3d instead of video module.
* reprecate also C API version

* remove cvEstimateRigidTransform

* supress deprecated warnings in estimateRigidTransform test

* the function is now deprecated

modules/shape/CMakeLists.txt

@@ -1,2 +1,2 @@
 set(the_description "Shape descriptors and matchers")
-ocv_define_module(shape opencv_core opencv_imgproc opencv_video WRAP python)
+ocv_define_module(shape opencv_core opencv_imgproc opencv_calib3d WRAP python)

modules/shape/src/aff_trans.cpp

@@ -222,12 +222,18 @@ void AffineTransformerImpl::estimateTransformation(InputArray _pts1, InputArray
         shape2.push_back(pt2);
     }
 
-    // estimateRigidTransform //
     Mat affine;
-    estimateRigidTransform(shape1, shape2, fullAffine).convertTo(affine, CV_32F);
+    if (fullAffine)
+    {
+        estimateAffine2D(shape1, shape2).convertTo(affine, CV_32F);
+    } else
+    {
+        estimateAffinePartial2D(shape1, shape2).convertTo(affine, CV_32F);
+    }
 
     if (affine.empty())
-        affine=_localAffineEstimate(shape1, shape2, fullAffine); //In case there is not good solution, just give a LLS based one
+        //In case there is not good solution, just give a LLS based one
+        affine = _localAffineEstimate(shape1, shape2, fullAffine);
 
     affineMat = affine;
 }

modules/shape/src/precomp.hpp

@@ -47,7 +47,7 @@
 #include <cmath>
 #include <iostream>
 
-#include "opencv2/video/tracking.hpp"
+#include "opencv2/calib3d.hpp"
 #include "opencv2/imgproc.hpp"
 #include "opencv2/shape.hpp"